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Q: 4WD Buttons on 2006 Hyundai Tucson

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I purchased a used 2006 Tucson and it did not come with a manual...I have 4WD and I see the button but underneath it...it says LOCK...what does that mean and next to it...it says ESC...what does that mean also. If anyone know could you please let me know.
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Usually the LOCK refers to locking the differentials for more traction in very bad road conditions, like in snow. The ESC stands for Electronic Slip Control which controls the amount of power given to each wheel when there are slippery road conditions. For example if 1 wheel is slipping on ice, the power is redirected to the other wheels that still have proper traction.
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